CN102794775A - Method and device for positioning sublance manipulator used inside converter - Google Patents
Method and device for positioning sublance manipulator used inside converter Download PDFInfo
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- CN102794775A CN102794775A CN2011101385281A CN201110138528A CN102794775A CN 102794775 A CN102794775 A CN 102794775A CN 2011101385281 A CN2011101385281 A CN 2011101385281A CN 201110138528 A CN201110138528 A CN 201110138528A CN 102794775 A CN102794775 A CN 102794775A
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Abstract
The invention discloses a method and a device for positioning a sublance manipulator used inside a converter. The method comprises the following steps of: establishing a two-dimensional system in a mode that a manipulator rotation center point is taken as a round point and a manipulator rotation plane is taken as the plane; installing a laser measuring device for detecting a position coordinate of a sublance, wherein when the sublance is installed each time, the current sublance coordinate value is detected by using the laser measuring device; initially, detecting an original sublance coordinate value by using the laser measuring device, and recording and storing the value; comparing a sublance coordinate value of a previous time with the present sublance coordinate value, and calculating a new coordinate value adopted at present if difference exists; if the values have no difference, recording the coordinate value in accordance with the previous time, and carrying out feedback control. The device corresponds to the method. According to the method and the device, by adopting a mode of laser addressing and calculating a deviation, the deviation is adjusted in real time, the adaptability of the sublance manipulator to the deviation is realized, and the hit rate in installing and dismantling a sublance detector is improved.
Description
Technical field
The localization method of the manipulator that the present invention relates to use under the adverse circumstances and positioner thereof; Particularly; The present invention relates to the localization method and the positioner thereof of the sublance manipulator of use in a kind of converter, said sublance manipulator is used for accomplishing in the converter installation, unloading and the sampling work of sublance detector.
Background technology
In the STEELMAKING PRODUCTION process of field of metallurgy, usually, must carry out thermometric and sampling to the molten steel in the converter through the sublance detector, simultaneously, in converter, accomplish the work of fetching of installation, unloading and the sample of sublance detector by the sublance manipulator.In addition, the action of sublance manipulator is to accomplish through hydraulic control.Owing to be in usually under about 1300 ℃ molten steel temperature in the converter body; Therefore, be used for the completion sublance detector in converter installation, unloading and sample the work of fetching sublance and to be used to accomplish the operation environment of sublance manipulator of installation, unloading of sublance detector very abominable.Sublance stretches in the converter body repeatedly, and under the baking of 1300 ℃ of molten steel, rifle cognition deforms, and when causing the sublance manipulator that the sublance detector is installed and unloaded, produces the skew of position of center line point.
On the other hand, the pattern of prior art is, be used for the completion sublance detector in converter installation, unloading and sample the work of fetching sublance and the sublance manipulator is installed and the location point of unloading is fixed, to the centering capacity of deviation, error does not take place.For this reason; The installation hit rate of the sublance detector of prior art only has an appointment 70%, in the control system, shows as fault alarm, overtime warning, the sublance cisco unity malfunction; Need the operative employee to carry out the manually-operated under visual at the scene; Carry out the installation of sublance detector, for this reason, production line is operated and the raising of efficient has produced bigger influence to making steel.
Up to now, in use still there is not good solution both at home and abroad.For example, the patent No. is " CN200610135139.2 ", and denomination of invention provides a kind of sublance scarfing cinder mode and safeguarded clinker removal method for the Chinese patent of " sub lance for converter dual blown from top and bottom is safeguarded clinker removal method and device thereof ".Yet this Li Su scheme can't be used for the work of fetching of installation, unloading and the sample of the completion sublance detector in converter under not to the centering capacity situation that deviation, error take place.The patent No. is " CN92243458.1 "; Denomination of invention for " automobile body correction is used the laser location surveying appearance " provide a kind of visual, having under the condition of standard size mathematics; Through the irradiation of laser, carry out the automobile body correction of visual location and use the laser location surveying appearance standard point.According to the document, range finding is through moving automobile chassis, the also corresponding transmission of pulse disc on the power transmission shaft being found range.Yet because the running environment of automobile assembling equipment is relatively good, the possibility that deviation takes place wants much little than smelting equipment running environment, is difficult to use in the work of fetching of installation, unloading and the sample of the completion sublance detector in converter.
Summary of the invention
For overcoming the problems referred to above, the objective of the invention is to, a kind of localization method and positioner thereof that is used for the sublance manipulator in the converter is provided, said sublance manipulator is used for accomplishing in the converter installation, unloading and the sampling work of sublance detector.
According to localization method and the positioner thereof that is used for the sublance manipulator in the converter of the present invention, can effectively solve the orientation problem of revolving furnace sublance manipulator, improve the installation of sublance detector and the hit rate of unloading.Effectively improve rhythm of production, reduce the number of times of artificial installation and unloading.
According to localization method and the positioner thereof that is used for the sublance manipulator in the converter of the present invention, be the mode that adopts laser addressed, through calculating, in real time deviation is adjusted deviation, realize the adaptive capacity of sublance manipulator to deviation.Being implemented in basic control system corrects tracking, location and the deviation of manipulator running orbit.
For reaching the invention described above purpose, the technical scheme of the localization method that is used for the sublance manipulator in the converter of the present invention is following.
A kind of localization method that is used for the sublance manipulator in the converter, is characterized in that said method comprises the steps: referring to Fig. 1
S11: setting up a cover is round dot with (sublance) manipulator rotary middle point, is the two-dimensional coordinate system S on plane with the manipulator Plane of rotation;
S12: the laser measuring device for measuring that a cover detects the sublance position coordinates is installed, when initial, is utilized laser measuring device for measuring to detect sublance H
0(X
0, Y
0), and the record preservation, as H
0Original coordinates;
S13: when at every turn sublance being installed, utilize laser measuring device for measuring to detect the sublance position coordinates H of this moment
m(X
m, Y
m), simultaneously, H
0(X
0, Y
0) be recorded as a preceding coordinate figure H
p(X
p, Y
p);
S14: more previous sublance coordinate figure H
p(X
p, Y
p) and H
m(X
m, Y
m), if variant, calculate the current coordinate H that adopts
n(X
n, Y
n); If indifference by the preceding once coordinate figure of record, carries out FEEDBACK CONTROL,
If above-mentioned what is called promptly refers to variant:
If Δ X=X
m-X
p>=X
s(preset permissible variation value), then X
n=(X
p+ X
m)/2;
If Δ Y=Y
m-Y
p>=Y
s(preset permissible variation value), then Y
n=(Y
p+ Y
m)/2;
Simultaneously, with new sublance coordinate figure H
n(X
n, Y
n) be recorded as a preceding coordinate figure H
p(X
p, Y
p), that is: X
p=X
nY
p=Y
n
If indifference promptly refers to:
If Δ X=X
m-X
p＜X
s, and Δ Y=Y
m-Y
p＜Y
s, then by a preceding H
p(X
p, Y
p) coordinate figure carries out manipulator attaching/detaching sublance.
According to the localization method that is used for the sublance manipulator in the converter of the present invention, it is characterized in that the sublance position measurement is operated as follows:
With laser ranging system measure sublance X apart from the time; Front (laser measuring device for measuring is installed) with the manipulator clamper rotates to the direction parallel with Y earlier; The manipulator clamper writes down the distance that the manipulator clamper is done exercises along directions X from the beginning of initial point O point this moment from initial point O point beginning directions X motion in upper edge, S plane then; When the laser acquisition light beam moves to when receiving sublance and blocking, the manipulator clamper of record this moment begins the distance value of doing exercises along directions X from initial point O point, and this value is the coordinate figure of the directions X of sublance.
According to the localization method that is used for the sublance manipulator in the converter of the present invention, it is characterized in that the sublance position measurement is operated as follows:
With laser ranging system measure sublance Y apart from the time, the front with the manipulator clamper rotates to the direction parallel with X earlier, the Y direction along the sublance coordinate moves again, measures the Y value of sublance coordinate.
Referring to Fig. 3, laser measuring device for measuring is installed in the front of manipulator clamper, in the time each time the sublance temperature probe need being installed, need carry out the sublance position measurement earlier.Specific as follows: laser ranging system measure sublance X apart from the time; Front (laser measuring device for measuring is installed) with the manipulator clamper rotates to the direction parallel with Y earlier; The manipulator clamper writes down the distance that the manipulator clamper is done exercises along directions X from the beginning of initial point O point this moment from initial point O point beginning directions X motion in upper edge, S plane then; When the laser acquisition light beam moves to when receiving sublance and blocking, the manipulator clamper of record this moment begins the distance value of doing exercises along directions X from initial point O point, and this value is the coordinate figure of the directions X of sublance.
By same method, the front of manipulator clamper rotates to the direction parallel with X, and the Y direction along the sublance coordinate moves again, measures the Y value of sublance coordinate.
In addition, for reaching the foregoing invention purpose, the technical scheme of the positioner that is used for the sublance manipulator in the converter of the present invention is following.
A kind of device that is used for the sublance manipulator location in the converter; Referring to Fig. 2; It is characterized in that the device of the sublance manipulator location of using in the said converter comprises manipulator controller, laser ranging system, data communication module and the data processing module that order telecommunications connects
Manipulator controller is responsible for controlling the sublance manipulator and is moved along X, Y direction,
It is positive that laser ranging system is installed in the manipulator clamper, and when manipulator moves in a circle along the axle center when doing stretching motion vertically, be responsible for emission laser and accept laser, and according to the coordinate figure of emission and the laser measurement sublance accepted,
Data communication module is responsible for communicating with the control system.Accept the setup parameter of control system, the data of acceptance have: the time started, and the sublance initial position, last time, sublance physical location etc. and was given the control system with the actual achievement transfer of data,
Data processing module is responsible for gathering laser ranging data, carries out data, according to result, manipulator controller is assigned operational order.
As stated, the S21 manipulator controller is responsible for controlling the sublance manipulator and is moved along X, Y direction.Manipulator control operation is as shown in Figure 1.Control device is preserved initial X, the Y axis data of sublance, preserves the parameters such as stroke that manipulator can move.
It is positive that the S22 laser ranging system is installed in the manipulator clamper, and when manipulator moves in a circle along the axle center when doing stretching motion vertically, be responsible for emission laser and accept laser, and according to the coordinate figure of emission and the laser measurement sublance accepted.
The S24 data processing module is responsible for gathering laser ranging data, carries out data, according to result, manipulator controller is assigned operational order.
Laser ranging system measure sublance X apart from the time; Front (laser measuring device for measuring is installed) with the manipulator clamper rotates to the direction parallel with Y earlier; The manipulator clamper writes down the distance that the manipulator clamper moves along directions X from the beginning of initial point O point this moment from initial point O point beginning directions X motion in upper edge, S plane then; When the laser acquisition light beam moves to when receiving sublance and blocking, the manipulator clamper of record this moment begins the distance value that moves along directions X from initial point O point, and this value is the coordinate figure of the directions X of sublance.
By same method, the front of manipulator clamper rotates to the direction parallel with X, and the Y direction along the sublance coordinate moves again, measures the Y value of sublance coordinate.
The S23 data communication module is responsible for communicating with the control system.Accept the setup parameter of control system, the data of acceptance have: the time started, and the sublance initial position, last time, sublance physical location etc. and was given the control system with the actual achievement transfer of data, and the actual achievement data have: positioning time, sublance actual achievement position etc.Communication is adopted based on the text transmission means under the UDP/IP agreement, and message format is as shown in Figure 4.Be responsible for communicating by letter between data processing module and the manipulator simultaneously, carry out the transmission and the acceptance of real time data.
The S24 data processing module is responsible for gathering laser ranging data, carries out data, according to result, manipulator controller is assigned operational order.
More previous sublance coordinate figure H
p(X
p, Y
p) and H
m(X
m, Y
m), if variant, calculate the current coordinate H that adopts
n(X
n, Y
n); If indifference is held by the preceding once coordinate of record, carry out FEEDBACK CONTROL.
If variant, that is:
If Δ X=X
m-X
p>=X
s(preset permissible variation value), then X
n=(X
p+ X
m)/2;
If Δ Y=Y
m-Y
p>=Y
s(preset permissible variation value), then Y
n=(Y
p+ Y
m)/2;
And new sublance coordinate figure H
n(X
n, Y
n) be recorded as a preceding coordinate figure H
p(X
p, Y
p), that is: X
p=X
nY
p=Y
n
If indifference, that is: Δ X=X
m-X
p＜X
s, and Δ Y=Y
m-Y
p＜Y
s, then by a preceding H
p(X
p, Y
p) coordinate figure carries out manipulator attaching/detaching sublance.
According to the localization method and the positioner thereof of the sublance manipulator that uses in the converter of the present invention, be the mode that adopts laser addressed, through calculating, in real time deviation is adjusted deviation, realize the adaptive capacity of sublance manipulator to deviation.Being implemented in basic control system corrects tracking, location and the deviation of manipulator running orbit.
According to localization method and the positioner thereof that is used for the sublance manipulator in the converter of the present invention, can effectively solve the orientation problem of revolving furnace sublance manipulator, improve the installation of sublance detector and the hit rate of unloading.Effectively improve rhythm of production, reduce the number of times of artificial installation and unloading.
Description of drawings
Fig. 1 is the method flow diagram of a kind of revolving furnace sublance manipulator location.
Fig. 2 is the device sketch map of a kind of revolving furnace sublance manipulator location.
Fig. 3 is the manipulator service chart.
Fig. 4 is the text structure chart.
Fig. 5 is a calculation flow chart.
Fig. 6 is the manipulator workflow diagram.
Among the figure, 1 is (sublance) manipulator, and 2 is sublance.
The specific embodiment
Further specify embodiments of the invention below in conjunction with accompanying drawing.
A kind of revolving furnace sublance manipulator workflow, need accurately be located before each installation auxiliary lance probe referring to Fig. 6.Through the laser positioning apparatus, detect the residing position of current sublance, basis compares with the data of a preceding position then, carries out the deviation calculation of sublance, carries out accurate location and installation or dismounting probe according to the deviation FEEDBACK CONTROL then.
Be specially; This method and device are at first mechanically loaded onto laser ranging system at (sublance), and it is the laser of 659nm that this laser ranging system adopts the red color visible optical wavelength, and laser power is 1mW; Have serial line interface RS485 communication function, insert manipulator control system.At 1 laser ranging system of the positive installation of manipulator clamper, and in (sublance) mechanical control device, the travel range of laser detector is set.
In the scope of (sublance) mechanical movement, set up X, Y standard coordinate system is with the primary standard spatial data and the sublance primary standard spatial data of position of manipulator, in the input process control system.
According to Fig. 3 manipulator service chart; Manipulator moves the x direction of manipulator along the sublance coordinate earlier before grasping probe, blocks when the laser acquisition light beam receives sublance; Laser detector passes to the manipulator controller with signal through digital to analog converter; Calculate the actual location data of current sublance spatial value again by manipulator control software process, feed back to corrective system to this coordinate data simultaneously, thereby measure the deviate that the x direction takes place.
Corrective system (Fig. 5) compares calculating according to this spatial data and the sublance primary standard spatial data that configures in advance, draws the rectification data that directions X needs, and stores for use.
By same method, (sublance) machinery moves along the y direction of sublance coordinate again, measures the deviate of y direction, and calculates the rectification data that the Y direction needs.Change the working procedure data of mechanical hand by the control software transfer, thereby control running route, the traffic direction of mechanical hand accurately, the deviation that produces during the equipment that is corrected in uses makes equipment reach accurate, stable work running status.
When deviation takes place in the sublance fixed position; Seek track through laser and survey the position that the physical location of corrective system detection sublance feeds back to the robot coordinate data; Compare with the fixed position, the position of calculation deviation amount, correction manipulator reaches the position of correcting action again.
That is, according to the present invention, referring to Fig. 1, said method comprises the steps:
S11: setting up a cover is round dot with (sublance) manipulator rotary middle point, is the two-dimensional coordinate system S on plane with the manipulator Plane of rotation;
S12: the laser measuring device for measuring that a cover detects the sublance position coordinates is installed, when initial, is utilized laser measuring device for measuring to detect sublance H
0(X
0, Y
0), and the record preservation, as H
0Original coordinates;
S13: when at every turn sublance being installed, utilize laser measuring device for measuring to detect the sublance position coordinates H of this moment
m(X
m, Y
m), simultaneously, H
0(X
0, Y
0) be recorded as a preceding coordinate figure H
p(X
p, Y
p);
S14: more previous sublance coordinate figure H
p(X
p, Y
p) and H
m(X
m, Y
m), if variant, calculate the current coordinate H that adopts
n(X
n, Y
n); If indifference by the preceding once coordinate figure of record, carries out FEEDBACK CONTROL,
If above-mentioned what is called promptly refers to variant:
If Δ X=X
m-X
p>=X
s(preset permissible variation value), then X
n=(X
p+ X
m)/2;
If Δ Y=Y
m-Y
p>=Y
s(preset permissible variation value), then Y
n=(Y
p+ Y
m)/2;
Simultaneously, with new sublance coordinate figure H
n(X
n, Y
n) be recorded as a preceding coordinate figure H
p(X
p, Y
p), that is: X
p=X
nY
p=Y
n
If indifference promptly refers to:
If Δ X=X
m-X
p＜X
s, and Δ Y=Y
m-Y
p＜Y
s, then by a preceding H
p(X
p, Y
p) coordinate figure carries out manipulator attaching/detaching sublance.
In the present embodiment, X
s, Y
sGet 4-5mm.
In addition, sublance position measurement operation is as follows:
With laser ranging system measure sublance X apart from the time; Front (laser measuring device for measuring is installed) with the manipulator clamper rotates to the direction parallel with Y earlier; The manipulator clamper writes down the distance that the manipulator clamper is done exercises along directions X from the beginning of initial point O point this moment from initial point O point beginning directions X motion in upper edge, S plane then; When the laser acquisition light beam moves to when receiving sublance and blocking, the manipulator clamper of record this moment begins the distance value of doing exercises along directions X from initial point O point, and this value is the coordinate figure of the directions X of sublance.
With laser ranging system measure sublance Y apart from the time, the front with the manipulator clamper rotates to the direction parallel with X earlier, the Y direction along the sublance coordinate moves again, measures the Y value of sublance coordinate.
Referring to Fig. 3, laser measuring device for measuring is installed in the front of manipulator clamper, in the time each time the sublance temperature probe need being installed, need carry out the sublance position measurement earlier.Specific as follows: laser ranging system measure sublance X apart from the time; Front (laser measuring device for measuring is installed) with the manipulator clamper rotates to the direction parallel with Y earlier; The manipulator clamper writes down the distance that the manipulator clamper is done exercises along directions X from the beginning of initial point O point this moment from initial point O point beginning directions X motion in upper edge, S plane then; When the laser acquisition light beam moves to when receiving sublance and blocking, the manipulator clamper of record this moment begins the distance value of doing exercises along directions X from initial point O point, and this value is the coordinate figure of the directions X of sublance.
By same method, the front of manipulator clamper rotates to the direction parallel with X, and the Y direction along the sublance coordinate moves again, measures the Y value of sublance coordinate.
The beneficial effect of present embodiment is, adopts the mode of laser addressed, through the calculating to deviation, in real time deviation is adjusted, and realizes the adaptive capacity of sublance manipulator to deviation.
According to localization method and the positioner thereof that is used for the sublance manipulator in the converter of the present invention, be the mode that adopts laser addressed, through calculating, in real time deviation is adjusted deviation, realize the adaptive capacity of sublance manipulator to deviation.Being implemented in basic control system corrects tracking, location and the deviation of manipulator running orbit.
According to localization method and the positioner thereof that is used for the sublance manipulator in the converter of the present invention, can effectively solve the orientation problem of revolving furnace sublance manipulator, improve the installation of sublance detector and the hit rate of unloading.Effectively improve rhythm of production, reduce the number of times of artificial installation and unloading.
Above embodiment is merely exemplary embodiment of the present invention, is not used in restriction the present invention, and protection scope of the present invention is defined by the claims.Those skilled in the art can make various modifications or be equal to replacement the present invention in essence of the present invention and protection domain, this modification or be equal to replacement and also should be regarded as dropping in protection scope of the present invention.
Claims (7)
1. a localization method that is used for the sublance manipulator in the converter is characterized in that said method comprises the steps:
S11: setting up a cover is round dot with the manipulator rotary middle point, is the two-dimensional coordinate system S on plane with the manipulator Plane of rotation;
S12: the laser measuring device for measuring that a cover detects the sublance position coordinates is installed, when initial, is utilized laser measuring device for measuring to detect sublance H
0(X
0, Y
0), and the record preservation, as H
0Original coordinates;
S13: when at every turn sublance being installed, utilize laser measuring device for measuring to detect the sublance position coordinates H of this moment
m(X
m, Y
m), simultaneously, H
0(X
0, Y
0) be recorded as a preceding coordinate figure H
p(X
p, Y
p);
S14: more previous sublance coordinate figure H
p(X
p, Y
p) and H
m(X
m, Y
m), if variant, calculate the current coordinate H that adopts
n(X
n, Y
n); If indifference by the preceding once coordinate figure of record, carries out FEEDBACK CONTROL,
If above-mentioned what is called promptly refers to variant:
If Δ X=X
m-X
p>=X
s, X then
n=(X
p+ X
m)/2;
If Δ Y=Y
m-Y
p>=Y
s, Y then
n=(Y
p+ Y
m)/2;
X
s, Y
sBe respectively preset permissible variation value,
Simultaneously, with new sublance coordinate figure H
n(X
n, Y
n) be recorded as a preceding coordinate figure H
p(X
p, Y
p), that is: X
p=X
nY
p=Y
n,
If indifference promptly refers to:
If Δ X=X
m-X
p＜X
s, and Δ Y=Y
m-Y
p＜Y
s, then by a preceding H
p(X
p, Y
p) coordinate figure carries out manipulator attaching/detaching sublance.
2. the localization method that is used for the sublance manipulator in the converter according to claim 1 is characterized in that the sublance position measurement is operated as follows:
With laser ranging system measure sublance X apart from the time; Elder generation is with the front of manipulator clamper; Laser measuring device for measuring promptly is installed simultaneously rotates to the direction parallel with Y; The manipulator clamper writes down the distance that the manipulator clamper is done exercises along directions X from the beginning of initial point O point this moment from initial point O point beginning directions X motion in upper edge, S plane then;
When the laser acquisition light beam moves to when receiving sublance and blocking, the manipulator clamper of record this moment begins the distance value that moves along directions X from initial point O point, and this value is the coordinate figure of the directions X of sublance.
3. the localization method that is used for the sublance manipulator in the converter according to claim 1 is characterized in that the sublance position measurement is operated as follows:
With laser ranging system measure sublance Y apart from the time, the front with the manipulator clamper rotates to the direction parallel with X earlier, the Y direction along the sublance coordinate moves again, measures the Y value of sublance coordinate.
With laser ranging system measure sublance X apart from the time, the front of manipulator clamper rotates to the direction parallel with Y, the directions X along the sublance coordinate moves again, measures the X value of sublance coordinate.
4. one kind is used for the device that the interior sublance manipulator of converter is located; It is characterized in that; The device of the sublance manipulator location of using in the said converter comprises manipulator controller, laser ranging system, data communication module and the data processing module that order telecommunications connects
Said manipulator controller control sublance manipulator moves along X, Y direction,
It is positive that said laser ranging system is installed in the manipulator clamper, and when manipulator moves in a circle along the axle center when doing stretching motion vertically, be responsible for emission laser and accept laser, and according to the coordinate figure of emission and the laser measurement sublance accepted,
Said data communication module and control system communicate, and accept the setup parameter of control system, and give the control system with the actual achievement transfer of data,
Said data processing module is gathered laser ranging data, carries out data, according to result, manipulator controller is assigned operational order.
5. the device that is used for the sublance manipulator location in the converter as claimed in claim 4 is characterized in that the data that said data communication module is accepted have: the time started, the sublance initial position, last time the sublance physical location.
6. the device that is used for the sublance manipulator location in the converter as claimed in claim 4 is characterized in that said manipulator controller is preserved initial X, the Y axis data of sublance, preserves the parameters such as stroke that manipulator can move.
7. the device that is used for the sublance manipulator location in the converter as claimed in claim 4 is characterized in that said communication is adopted based on the text transmission means under the UDP/IP agreement.
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|---|---|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106785079A (en) * | 2016-12-30 | 2017-05-31 | 深圳市沃特玛电池有限公司 | Up- coiler catching robot and its battery core screening technique |
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| CN102072701A (en) * | 2010-11-23 | 2011-05-25 | 苏州江城数控精密机械有限公司 | Method for detecting size of part and device |
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| CN106785079A (en) * | 2016-12-30 | 2017-05-31 | 深圳市沃特玛电池有限公司 | Up- coiler catching robot and its battery core screening technique |
| CN106785079B (en) * | 2016-12-30 | 2019-11-15 | 深圳安鼎新能源技术开发有限公司 | Up- coiler catching robot and its battery core screening technique |
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